时域连续下遥操作机器人时延测试系统设计  

Design of Delay Test System for Remotely Operated Robots Under Time-domain Continuum

作　　者：夏晶 郝翔 刘琳涛 李重阳 XIA Jing;HAO Xiang;LIU Lintao;LI Chongyang(School of Mechanical Engineering,Xi’an University of Science and Technology;Beijing Siling Robot Technology Co.,LTD.)

机构地区：[1]西安科技大学机械工程学院 [2]北京思灵机器人科技有限责任公司

出　　处：《仪表技术与传感器》2024年第7期66-71,共6页Instrument Technique and Sensor

基　　金：国家自然科学基金面上项目(52174149);陕西省重点研发计划项目(2022GY-241)。

摘　　要：针对已有的遥操作机器人主从时延测试方法因采样频率过低导致的时域离散输出信号测量精度不足的问题,设计并提出一种时域连续下遥操作机器人时延测试系统与方法。首先采用双通道示波器采集主从端设备的运动模拟量,并将其转化为电压-时间曲线;然后通过平均滤波算法抑制波形曲线的周期性干扰,进一步消除系统波动误差;最后分析曲线斜率突变点记录主从两端运动发生时间戳,计算时间戳差值得到遥操作机器人的主从控制时延。远程超声扫查机器人时延测试实验表明:相较于现有测试方法,所提测试系统和方法测试结果更接近理论时延,验证了所提方法的有效性和可靠性。Aiming at the problem of insufficient measurement accuracy of discrete output signal in time domain due to low sampling frequency of existing methods of master slave time delay measurement of remote operation robot,a time-delay testing system and method for continuous remote operation robot in time domain were designed and proposed.Firstly,a dual-channel oscilloscope was used to collect the motion analog quantity of the master-slave end devices and was converted into a voltage-time curve.Then the periodic interference of the waveform curve was suppressed by the average filtering algorithm to further eliminate the system fluctuation error.Finally,the curve slope mutation points were analyzed to record the time stamps of motion occurrence of the master-slave ends,and the difference of the time stamps was calculated to obtain the master-slave control delay of the remotely operated robot.The delay test experiment of remote ultrasonic scanning robot shows that compared with the existing test methods,the test results of the proposed test system and method are closer to the theoretical delay,which verifies the validity and reliability of the proposed method.

关 键 词：时域连续 遥操作机器人 时延量化 实时测量 主从跟随 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]